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<h1>rpy2jac</h1><p><span class="helptopic">Jacobian from RPY angle rates to angular velocity</span></p><p>
<strong>J</strong> = <span style="color:red">rpy2jac</span>(<strong>rpy</strong>, <strong>options</strong>) is a Jacobian matrix (3x3) that maps ZYX roll-pitch-yaw angle
rates to angular velocity at the operating point <strong>rpy</strong>=[R,P,Y].

</p>
<p>
<strong>J</strong> = <span style="color:red">rpy2jac</span>(<strong>R</strong>, <strong>p</strong>, <strong>y</strong>, <strong>options</strong>) as above but the roll-pitch-yaw angles are passed
as separate arguments.

</p>
<h2>Options</h2>
<table class="list">
  <tr><td style="white-space: nowrap;" class="col1"> 'xyz'</td> <td>Use XYZ roll-pitch-yaw angles</td></tr>
  <tr><td style="white-space: nowrap;" class="col1"> 'yxz'</td> <td>Use YXZ roll-pitch-yaw angles</td></tr>
</table>
<h2>Notes</h2>
<ul>
  <li>Used in the creation of an analytical Jacobian.</li>
</ul>
<h2>See also</h2>
<p>
<a href="eul2jac.html">eul2jac</a>, <a href="SerialLink.JACOBE.html">SerialLink.JACOBE</a></p>
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